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<h1 class="reftitle">mpt_call_plcp</h1>
<h2>Purpose</h2>
<p>A gateway function to PLCP solver (without errorchecks)</p>
<h2>Syntax</h2>
<pre class="synopsis">R = mpt_call_plcp(S)</pre>
<h2>Description</h2>
<p></p>
        The function implements call to PLCP solver from <tt>Opt</tt> class.
        Supported problems are PLCP, MPLP, and MPQP.
        For PLCP, the problem is directly passed to <tt>mpt_plcp</tt> solver.
        For MPLP/MPQP, the problem is first transformed to PLCP and then PLCP solver is called.
                
	<h2>Input Arguments</h2>
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<td><tt>S</tt></td>
<td>
<p></p>Object of the <tt>Opt</tt> class with the PLCP data.<p>
	    		Class: <tt>Opt</tt><p></p><tr valign="top">
<td><tt>S.Ath</tt></td>
<td>
<p></p>Linear part of the inequality constraints <img src="../../../../fig/mpt/modules/solvers/mpt_call_plcp1.png" alt="../../../../fig/mpt/modules/solvers/mpt_call_plcp1.png">.<p>
	    		Class: <tt>double</tt></p>
<p>
	    		Default: []</p>
</td>
</tr><tr valign="top">
<td><tt>S.bth</tt></td>
<td>
<p></p>Right hand side of the inequality constraints <img src="../../../../fig/mpt/modules/solvers/mpt_call_plcp2.png" alt="../../../../fig/mpt/modules/solvers/mpt_call_plcp2.png">.<p>
	    		Class: <tt>double</tt></p>
<p>
	    		Default: []</p>
</td>
</tr><tr valign="top">
<td><tt>S.M</tt></td>
<td>
<p></p>Linear matrix involved in LCP.<p>
	    		Class: <tt>double</tt></p>
<p>
	    		Default: []</p>
</td>
</tr><tr valign="top">
<td><tt>S.q</tt></td>
<td>
<p></p>Right hand side vector involved in LCP.<p>
	    		Class: <tt>double</tt></p>
<p>
	    		Default: []</p>
</td>
</tr><tr valign="top">
<td><tt>S.Q</tt></td>
<td>
<p></p>Linear matrix involved in parametric formulation of LCP.<p>
	    		Class: <tt>double</tt></p>
<p>
	    		Default: []</p>
</td>
</tr><tr valign="top">
<td><tt>S.n</tt></td>
<td>
<p></p>Number of decision variables.<p>
	    		Class: <tt>double</tt></p>
</td>
</tr><tr valign="top">
<td><tt>S.d</tt></td>
<td>
<p></p>Number of parameters.<p>
	    		Class: <tt>double</tt></p>
</td>
</tr><tr valign="top">
<td><tt>S.varOrder</tt></td>
<td>
<p></p>Order of variables if the problem was processed by YALMIP first.<p>
	    		Class: <tt>double</tt></p>
<p>
	    		Default: []</p>
</td>
</tr><tr valign="top">
<td><tt>S.Internal</tt></td>
<td>
<p></p>Internal property of <tt>Opt</tt> class.<p>
	    		Class: <tt>struct</tt></p>
<p>
	    		Default: []</p>
</td>
</tr><p></p></p>
</td>
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<h2>Output Arguments</h2>
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<td><tt>R</tt></td>
<td>
<p></p>result structure<p>
	    		Class: <tt>struct</tt><p></p><tr valign="top">
<td><tt>R.xopt</tt></td>
<td>
<p></p>Optimal solution<p>
	    		Class: <tt>PolyUnion</tt></p>
</td>
</tr><tr valign="top">
<td><tt>R.exitflag</tt></td>
<td>
<p></p>An integer value that informs if the result was feasible (1), or otherwise (different from 1)<p>
	    		Class: <tt>double</tt></p>
</td>
</tr><tr valign="top">
<td><tt>R.how</tt></td>
<td>
<p></p>A string that informs if the result was feasible ('ok'), or if any problem appeared through optimization<p>
	    		Class: <tt>char</tt></p>
</td>
</tr><tr valign="top">
<td><tt>R.solveTime</tt></td>
<td>
<p></p>Information about the time that elapsed during the computation in seconds.<p>
	    		Class: <tt>double</tt></p>
</td>
</tr><tr valign="top">
<td><tt>R.stats</tt></td>
<td>
<p></p>Further details from the parametric solver.<p>
	    		Class: <tt>struct</tt></p>
</td>
</tr><p></p></p>
</td>
</tr></tbody>
</table>
<h2>See Also</h2>
<a href="./@Opt/opt.html">opt</a>, <a href="./mpt_solvemp.html">mpt_solvemp</a><p></p>
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<br><p>©  <b>2010-2013</b>     Martin Herceg: ETH Zurich,    <a href="mailto:herceg@control.ee.ethz.ch">herceg@control.ee.ethz.ch</a></p>
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